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/* Author    : Tyler Weaver
   Desc      : Creates a parameter descriptor message used to describe parameters
   Title     : parameter_descriptor_builder.cpp
   Project   : moveit_servo
*/

#include <moveit_servo/parameter_descriptor_builder.hpp>

namespace moveit_servo
{
ParameterDescriptorBuilder& ParameterDescriptorBuilder::type(uint8_t type)
{
  msg_.type = type;
  return *this;
}

ParameterDescriptorBuilder& ParameterDescriptorBuilder::description(const std::string& description)
{
  msg_.description = description;
  return *this;
}

ParameterDescriptorBuilder& ParameterDescriptorBuilder::additionalConstraints(const std::string& additional_constraints)
{
  msg_.additional_constraints = additional_constraints;
  return *this;
}

ParameterDescriptorBuilder& ParameterDescriptorBuilder::readOnly(bool read_only)
{
  msg_.read_only = read_only;
  return *this;
}

// In rolling (not in Foxy)
ParameterDescriptorBuilder& ParameterDescriptorBuilder::dynamicTyping(bool dynamic_typing)
{
  msg_.dynamic_typing = dynamic_typing;
  return *this;
}

ParameterDescriptorBuilder&
ParameterDescriptorBuilder::floatingPointRange(double from_value /*= std::numeric_limits<double>::min()*/,
                                               double to_value /*= std::numeric_limits<double>::max()*/,
                                               double step /*= 0*/)
{
  msg_.floating_point_range.resize(1);
  msg_.floating_point_range[0].from_value = from_value;
  msg_.floating_point_range[0].to_value = to_value;
  msg_.floating_point_range[0].step = step;
  return *this;
}

ParameterDescriptorBuilder&
ParameterDescriptorBuilder::integerRange(int64_t from_value /*= std::numeric_limits<int64_t>::min()*/,
                                         int64_t to_value /*= std::numeric_limits<int64_t>::max()*/,
                                         int64_t step /*= 0*/)
{
  msg_.integer_range.resize(1);
  msg_.integer_range[0].from_value = from_value;
  msg_.integer_range[0].to_value = to_value;
  msg_.integer_range[0].step = step;
  return *this;
}

}  // namespace moveit_servo
